CN105932923A - SVPWM-based novel sector judgment method and system - Google Patents
SVPWM-based novel sector judgment method and system Download PDFInfo
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- CN105932923A CN105932923A CN201610488209.6A CN201610488209A CN105932923A CN 105932923 A CN105932923 A CN 105932923A CN 201610488209 A CN201610488209 A CN 201610488209A CN 105932923 A CN105932923 A CN 105932923A
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- svpwm
- hall element
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Linear Motors (AREA)
Abstract
The invention discloses an SVPWM-based novel sector judgment method and system. According to the method, state combination is carried out by a hall sensor by detecting different high and low levels generated by changes of NS poles of a magnetic field; and a sector in which a reference vector U<ref> is located is judged through detected state combination according to the preset rule. By the SVPWM-based novel sector judgment method and system, the complexity of traditional judgment of the sector in which the reference vector U<ref> is located is reduced; the rapidity and the instantaneity of the system are improved; and meanwhile, the implementation cost of the overall motor control system is reduced.
Description
Technical field
The present invention relates to relate to brshless DC motor sine wave control field, particularly relate to a kind of based on
The novel sector of SVPWM (space vector pulse width modulation space vector pulse width modulation) is sentenced
Disconnected method and system.
Background technology
At present, the main method judged for space vector PWM sector is mathematical calculation, further according at α β
U in coordinate systemα, UβJudge resultant vector UrefThe sector at place, as shown in Figure 1.First, it is desirable to
Judge reference voltage vector UrefThe sector at place just must first calculate UαAnd Uβ, wherein Uα=| Uref| cos θ,
Uβ=| Uref|sinθ.Assuming that the voltage vector of synthesis falls in I sector, it is known that its condition of equivalence is as follows:
0°<arctan(Uβ/Uα)<60°.The above condition of equivalence is analyzed in conjunction with Fig. 1 vectogram geometrical relationship, it can be determined that
Go out synthesized voltage vector UrefFall at the sufficient and necessary condition of X sector: sector I Uα> 0, Uβ> 0 andSector II Uβ> 0, andSector III Uα< 0, Uβ> 0 and
Sector IV Uα< 0, Uβ< 0 andSector V Uβ< 0 andSector VI Uα> 0,
Uβ< 0 and
If analyzing above condition further, it can be seen that reference voltage vector UrefThe sector at place completely by
Uβ,Three formulas determine, therefore order: U1=Uβ, Re-define, if U1> 0, then A=1, otherwise A=0；If U2> 0, then B=1, otherwise
B=0；If U3> 0, then C=1, otherwise C=0.Can be seen that A, between B, C, have eight kinds of combinations,
But being understood A by the formula judging sector, B, C will not be 1 simultaneously or be 0 simultaneously, so the group of reality
Conjunction is six kinds, A, B, and C in combination takes different values and correspond to different sectors, and is one to one,
The most completely can be by A, the combination of B, C judges the sector at place.For six kinds of states of difference, order
N=22*C+21*B+20* A (be expressed as binary form such as N=5 and represent 101, i.e. C=1, B=0, A=1),
Then can set up the corresponding relation of N value and sector number: 3-I, 1-II, 5-III, 4-IV, 6-V, 2-VI.With
Upper sector determining method is the method for current main application, and this determining method major advantage is sector accuracy of judgement,
But shortcoming is that the requirement to processor is higher.
In sum, want as can be seen from the above analysis to judge reference vector UrefSector, place, first has to
Calculate the U under α β coordinate systemα、Uβ, its computing formula is Uα=| Uref| cos θ, Uβ=| Uref| sin θ,
Calculating containing sinusoidal and cosine in this formula, this is higher to the calculating rate request of processor, secondly A, B, C
The acquisition of three values, it is also desirable to through complicated calculating and substantial amounts of judgement, this makes whole control system
Real-time and rapidity by the biggest affected.
Summary of the invention
For the deficiency overcoming above-mentioned prior art to exist, the purpose of the present invention is to provide a kind of based on SVPWM
Novel sector determination methods and system, which reduce conventional reference vector UrefThe complexity that sector, place judges
Property, improve rapidity and the real-time of system, reduce the cost that whole electric machine control system realizes simultaneously.
For reaching above and other purpose, the present invention proposes a kind of novel sector based on SVPWM determination methods,
It is characterized in that: the method utilizes Hall element to produce low and high level by the change of detection magnetic field N S pole
Difference carries out combinations of states, judges reference vector U according to the combinations of states of detection according to preset rulesrefPlace
Sector.
Further, the method comprises the steps:
Step one, installs 3 Hall elements in motor internal, at permanent magnet through sensor output height
The level of low change；
Step 2, is acquired the low and high level of three Hall element outputs, utilizes Hall element defeated
Go out the difference of low and high level, the waveform of three Hall element outputs be divided into some groups within a cycle,
And carry out combinations of states, it is thus achieved that several binary codes, and be converted to decimal number；
Step 3, decimal number and the sector number one_to_one corresponding in three dimensional vector diagram that will obtain, by detection
The combinations of states of three Hall element output signals just can interpolate that this reference vector U according to preset rulesref
The sector at place.
Further, this Hall element is Hall switch sensor.
Further, this Hall switch sensor uses 120 ° of Hall elements.
Further, in step 2, the waveform of three Hall element outputs was divided within a cycle
60 ° one group carries out combinations of states.
Further, it is stipulated that in the Hall oscillogram of Hall element output, high level is 1, and low level is 0,
Arrange in a predetermined order, and by 60 ° one combination, it is thus achieved that the binary code of combination, and it is converted into ten
System number.
For reaching above-mentioned purpose, the present invention also provides for a kind of novel sector based on SVPWM and judges system,
Including:
Sensor unit, for installing 3 Hall elements in motor internal, at permanent magnet through sensor
Time output height change level；
Level collecting unit, is acquired the low and high level of three Hall element outputs；
Processing unit, utilizes the difference of Hall element output low and high level, by three Hall element outputs
Waveform within a cycle, be divided into some groups, and carry out combinations of states, it is thus achieved that several binary codes,
And be converted to decimal number；
Judging unit, decimal number and the sector number one_to_one corresponding in three dimensional vector diagram that will obtain, by inspection
The combinations of states surveying three Hall element output signals just can interpolate that reference vector U according to preset rulesref
The sector at place.
Further, this Hall element is 120 ° of Hall switch sensors.
Further, the waveform that three Hall elements export was divided within a cycle by this processing unit
60 ° one group carries out combinations of states.
Further, this processing unit specifies that in the Hall oscillogram that Hall element exports, high level is 1, low
Level is 0, arranges in a predetermined order, and by 60 ° one combination, it is thus achieved that the binary code of combination,
And it is converted into decimal number.
Compared with prior art, a kind of novel sector determination methods based on SVPWM of the present invention and system profit
By the combinations of states of 3 Hall switch sensor output waveforms, according to the rule of correspondence preset in advance, i.e.
Real-time judge can go out reference vector UrefThe sector at place, the present invention can reduce the difficulty that control system realizes,
The response speed of raising system, also is able to reduce the production cost of whole system simultaneously.
Accompanying drawing explanation
Fig. 1 is the space vector of voltage figure during prior art judges for space vector PWM sector；
Fig. 2 is the flow chart of steps of a kind of novel sector based on SVPWM of present invention determination methods；
Fig. 3 is the oscillogram of the output signal of Hall element in present pre-ferred embodiments
Fig. 4 is the system architecture diagram that a kind of novel sector based on SVPWM of the present invention judges system.
Detailed description of the invention
Below by way of specific instantiation accompanying drawings embodiments of the present invention, art technology
Personnel can be understood further advantage and effect of the present invention easily by content disclosed in the present specification.The present invention
Also can be implemented by other different instantiation or be applied, the every details in this specification also can base
In different viewpoints and application, under the spirit without departing substantially from the present invention, carry out various modification and change.
Fig. 2 is the flow chart of steps of a kind of novel sector based on SVPWM of present invention determination methods.Such as Fig. 2
Shown in, a kind of novel sector based on SVPWM of present invention determination methods, comprise the steps:
Step 201, installs 3 Hall switch sensors in motor internal, at permanent magnet through sensor
The level of output height change.
Hall element is a kind of Magnetic Sensor, and it can detect magnetic field and change thereof, and Hall element presses it
The difference of output signal can be divided into Hall linear unit and Hall switch device, and Hall switch device is also called out
Pass type Hall element.The former exports analog quantity, and the latter exports digital quantity.The precision of Hall linear unit is high,
The linearity is good；And Hall switch device is contactless, nothing is worn and torn, output waveform is clear, non-jitter, position weight
Multiple precision is high.Hall switch sensor can be divided into again 60 ° and 120 ° of Halls biographies by the difference of its electrical angle
Sensor, the present invention utilizes 120 ° of Hall switch sensors can be produced by the change of detection magnetic field N S pole
The different combinations of states characteristic that the difference of low and high level, power-up state recover and output signal has, makees
For space vector UrefThe basis that sector, place judges.
Step 202, the collection to three Hall element (hallA, hallB, hallC) output low and high levels,
Utilize the difference of Hall element output low and high level, by the waveform of three Hall element outputs in a week
It is divided into some groups in phase, and carries out combinations of states, it is thus achieved that several binary codes, and be converted to decimal scale
Number.
Specifically, in the present invention, the waveform of three Hall element outputs is divided into 60 ° within a cycle
One group carries out combinations of states, becomes as it is shown on figure 3, it is 120 ° of Hall elements waveform within a cycle
Change figure, it is stipulated that in Hall oscillogram, high level is 1, and low level is 0, and by hallC, hallB, hallA's is suitable
Sequence arranges, and by 60 ° one combination, can be combined as follows: 101,001,011,010,110,
100, regarded as binary code, and be converted into decimal number, then be can get following ten's digit: 5,
1、3、2、6、4。
Step 203, gets up the decimal number of acquisition with the sector number one_to_one corresponding in three dimensional vector diagram, passes through
The combinations of states of three Hall element output signals of detection just can interpolate that reference vector according to preset rules
UrefThe sector at place.In present pre-ferred embodiments, by the ten's digit 5 obtained, 1,3,2,6,
4 are mapped with space vector PWM sector number, such as: 5 corresponding sector I, and 1 corresponding sector II, 3 is right
Answering sector III, 2 corresponding sector IV, 6 corresponding sector V, 4 corresponding sector VI, this is a kind of corresponded manner,
Other also have many to plant different corresponded manners, can serve as reference vector UrefThe judgement of sector, place depends on
According to.The combination of above Hall output signal can also be hallA, hallB, hallC, or other combination
Mode.
Fig. 4 is the system architecture diagram that a kind of novel sector based on SVPWM of the present invention judges system.Such as Fig. 4
Shown in, a kind of novel sector based on SVPWM of the present invention judges system, including: sensor unit 401,
Level collecting unit 402, processing unit 403 and judging unit 404.
Wherein, sensor unit 401, for installing 3 Hall switch sensors in motor internal, forever
Magnet, through the level of sensor output height change, in the present invention, uses 120 ° of switching modes suddenly
That sensor, utilizes 120 ° of Hall switch sensors can produce height by the change of detection magnetic field N S pole
The different combinations of states characteristic that low level difference, power-up state recover and output signal has, as
Space vector UrefThe basis that sector, place judges.
Level collecting unit 402, the height that three Hall elements (hallA, hallB, hallC) are exported
Level is acquired；Processing unit 403, utilizes the difference of Hall element output low and high level, by three suddenly
You are divided into some groups by the waveform of sensor output within a cycle, and carry out combinations of states, it is thus achieved that several
Binary code, and be converted to decimal number.Specifically, by the waveform of three Hall element outputs one
It is divided into 60 ° one group in the individual cycle and carries out combinations of states, it is stipulated that in Hall oscillogram, high level is 1, low level
It is 0, by hallC, the order arrangement of hallB, hallA, and by 60 ° one combination, can obtain as follows
Combination: 101,001,011,010,110,100, is regarded as binary code, and is converted into ten and enters
Number processed, then can get following ten's digit: 5,1,3,2,6,4.
Judging unit 404, gets up the decimal number of acquisition with the sector number one_to_one corresponding in three dimensional vector diagram,
Just be can interpolate that with reference to vowing according to preset rules by the combinations of states of three Hall element output signals of detection
Amount UrefThe sector at place.In present pre-ferred embodiments, by the ten's digit 5 obtained, 1,3,2,
6,4 it is mapped with space vector PWM sector number, such as: 5 corresponding sector I, 1 corresponding sector II,
3 corresponding sector III, 2 corresponding sector IV, 6 corresponding sector V, 4 corresponding sector VI, this is a kind of counterparty
Formula, other also have many to plant different corresponded manners, can serve as reference vector UrefThe judgement of sector, place
Foundation, the combination of above Hall output signal can also be hallA, hallB, hallC, or other group
Conjunction mode.
In sum, a kind of novel sector determination methods based on SVPWM of the present invention and system utilize 3
The combinations of states of Hall switch sensor output waveform, according to the rule of correspondence preset in advance, can be in real time
Judge reference vector UrefThe sector at place, the present invention can reduce the difficulty that control system realizes, and improves system
The response speed of system, also is able to reduce the production cost of whole system simultaneously.
The principle of above-described embodiment only illustrative present invention and effect thereof, not for limiting the present invention.
Above-described embodiment all can be carried out by any those skilled in the art under the spirit and the scope of the present invention
Modify and change.Therefore, the scope of the present invention, should be as listed by claims.
Claims (10)
1. novel sector based on a SVPWM determination methods, it is characterised in that: the method utilizes Hall
The difference that sensor produces low and high level by the change of detection magnetic field N S pole carries out combinations of states, according to detection
Combinations of states judge reference vector U according to preset rulesrefThe sector at place.
A kind of novel sector based on SVPWM determination methods, its feature exists
In, the method comprises the steps:
Step one, installs 3 Hall elements in motor internal, at permanent magnet through sensor output height
The level of low change；
Step 2, is acquired the low and high level of three Hall element outputs, utilizes Hall element defeated
Go out the difference of low and high level, the waveform of three Hall element outputs be divided into some groups within a cycle,
And carry out combinations of states, it is thus achieved that several binary codes, and be converted to decimal number；
Step 3, decimal number and the sector number one_to_one corresponding in three dimensional vector diagram that will obtain, by detection
The combinations of states of three Hall element output signals just can interpolate that this reference vector U according to preset rulesref
The sector at place.
A kind of novel sector based on SVPWM determination methods, its feature exists
In: this Hall element is Hall switch sensor.
A kind of novel sector based on SVPWM determination methods, its feature exists
In: this Hall switch sensor uses 120 ° of Hall elements.
A kind of novel sector based on SVPWM determination methods, its feature exists
In: in step 2, the waveform of three Hall element outputs is divided into 60 ° one group within a cycle and enters
Row combinations of states.
A kind of novel sector based on SVPWM determination methods, its feature exists
In the Hall oscillogram of: regulation Hall element output, high level is 1, and low level is 0, by predetermined suitable
Sequence arranges, and by 60 ° one combination, it is thus achieved that the binary code of combination, and it is converted into decimal number.
7. novel sector based on SVPWM judges a system, including:
Sensor unit, for installing 3 Hall elements in motor internal, at permanent magnet through sensor
Time output height change level；
Level collecting unit, is acquired the low and high level of three Hall element outputs；
Processing unit, utilizes the difference of Hall element output low and high level, by three Hall element outputs
Waveform within a cycle, be divided into some groups, and carry out combinations of states, it is thus achieved that several binary codes,
And be converted to decimal number；
Judging unit, decimal number and the sector number one_to_one corresponding in three dimensional vector diagram that will obtain, by inspection
The combinations of states surveying three Hall element output signals just can interpolate that reference vector U according to preset rulesref
The sector at place.
A kind of novel sector based on SVPWM judges system, and its feature exists
In: this Hall element is 120 ° of Hall switch sensors.
A kind of novel sector based on SVPWM judges system, and its feature exists
In: the waveform that three Hall elements are exported by this processing unit is divided into 60 ° one group within a cycle to be carried out
Combinations of states.
A kind of novel sector based on SVPWM judges system, its feature
It is: this processing unit specifies that in the Hall oscillogram that Hall element exports, high level is 1, and low level is 0,
Arrange in a predetermined order, and by 60 ° one combination, it is thus achieved that the binary code of combination, and it is converted into ten
System number.
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| CN201610488209.6A CN105932923A (en) | 2016-06-28 | 2016-06-28 | SVPWM-based novel sector judgment method and system |
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Cited By (1)
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Application publication date: 20160907 |